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AP_Compass: constify get_completion_mask and remove use of auto

This commit is contained in:
Randy Mackay 2019-11-15 11:15:47 +09:00 committed by Andrew Tridgell
parent cf34abba87
commit 69a7a52e5f
3 changed files with 2 additions and 7 deletions
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2
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -208,7 +208,7 @@ bool Compass::send_mag_cal_progress(const GCS_MAVLINK& link)
cal_status == COMPASS_CAL_RUNNING_STEP_ONE || cal_status == COMPASS_CAL_RUNNING_STEP_ONE ||
cal_status == COMPASS_CAL_RUNNING_STEP_TWO) { cal_status == COMPASS_CAL_RUNNING_STEP_TWO) {
uint8_t completion_pct = calibrator.get_completion_percent(); uint8_t completion_pct = calibrator.get_completion_percent();
auto& completion_mask = calibrator.get_completion_mask(); const CompassCalibrator::completion_mask_t& completion_mask = calibrator.get_completion_mask();
const Vector3f direction; const Vector3f direction;
uint8_t attempt = _calibrator[compass_id].get_attempt(); uint8_t attempt = _calibrator[compass_id].get_attempt();

5
libraries/AP_Compass/CompassCalibrator.cpp
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@ -147,11 +147,6 @@ void CompassCalibrator::update_completion_mask()
} }
} }
CompassCalibrator::completion_mask_t& CompassCalibrator::get_completion_mask()
{
return _completion_mask;
}
bool CompassCalibrator::check_for_timeout() { bool CompassCalibrator::check_for_timeout() {
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
if(running() && tnow - _last_sample_ms > 1000) { if(running() && tnow - _last_sample_ms > 1000) {

2
libraries/AP_Compass/CompassCalibrator.h
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@ -50,7 +50,7 @@ public:
enum Rotation get_original_orientation() const { return _orig_orientation; } enum Rotation get_original_orientation() const { return _orig_orientation; }
float get_completion_percent() const; float get_completion_percent() const;
completion_mask_t& get_completion_mask(); const completion_mask_t& get_completion_mask() const { return _completion_mask; }
enum compass_cal_status_t get_status() const { return _status; } enum compass_cal_status_t get_status() const { return _status; }
float get_fitness() const { return sqrtf(_fitness); } float get_fitness() const { return sqrtf(_fitness); }
float get_orientation_confidence() const { return _orientation_confidence; } float get_orientation_confidence() const { return _orientation_confidence; }